Novel Sensing Method for Virtual Fabric Collision with Skin and Its Tactile Feedback

The modeling and tactile feedback of virtual fabric collision on skin have always posed challenges in the field of flexible tactile reproduction. This paper proposes a virtual fabric tactile reproduction system based on electrical stimulation. The system comprises a computational model that calculates the haptic force generated by the collision between virtual fabric and skin, alongside an electrical stimulation tactile reproduction device. To this end, this paper introduces various techniques for improving collision detection efficiency and force calculation performance. First, a spatial hashing algorithm with variable space is proposed for high-level collision rejection. Second, a traversal filter is introduced to reduce redundant collision testing between moving and stationary bodies, and damped force feedback is applied to realize the collision response. Finally, a tactile reproduction device based on electrical stimulation reproduces the computed tactile force on the skin. Psychophysical experiments demonstrate the correctness of the model and the effectiveness of the tactile device.